From d196e8b74e4608cd07d0c6db23f723d948dd9eef Mon Sep 17 00:00:00 2001
From: Marko Durkovic <marko@ternaris.com>
Date: Thu, 21 Apr 2022 15:58:09 +0200
Subject: [PATCH] Add support for rosbag2 version 5 metadata

---
 src/rosbags/rosbag2/reader.py | 15 ++++++++++++++-
 src/rosbags/rosbag2/writer.py | 14 +++++++++++++-
 2 files changed, 27 insertions(+), 2 deletions(-)

diff --git a/src/rosbags/rosbag2/reader.py b/src/rosbags/rosbag2/reader.py
index 0f261a99..dfc19a9b 100644
--- a/src/rosbags/rosbag2/reader.py
+++ b/src/rosbags/rosbag2/reader.py
@@ -44,6 +44,14 @@ if TYPE_CHECKING:
         message_count: int
         topic_metadata: TopicMetadata
 
+    class FileInformation(TypedDict):
+        """Per file metadata."""
+
+        path: str
+        starting_time: StartingTime
+        duration: Duration
+        message_count: int
+
     class Metadata(TypedDict):
         """Rosbag2 metadata file."""
 
@@ -56,6 +64,7 @@ if TYPE_CHECKING:
         compression_format: str
         compression_mode: str
         topics_with_message_count: list[TopicWithMessageCount]
+        files: list[FileInformation]
 
 
 class ReaderError(Exception):
@@ -99,6 +108,8 @@ class Reader:
         - Version 2: Changed field sizes in C++ implementation.
         - Version 3: Added compression.
         - Version 4: Added QoS metadata to topics, changed relative file paths
+        - Version 5: Added per file metadata
+
     """
 
     def __init__(self, path: Union[Path, str]):
@@ -125,7 +136,7 @@ class Reader:
 
         try:
             self.metadata: Metadata = dct['rosbag2_bagfile_information']
-            if (ver := self.metadata['version']) > 4:
+            if (ver := self.metadata['version']) > 5:
                 raise ReaderError(f'Rosbag2 version {ver} not supported; please report issue.')
             if storageid := self.metadata['storage_identifier'] != 'sqlite3':
                 raise ReaderError(
@@ -160,6 +171,8 @@ class Reader:
 
             if self.compression_mode and (cfmt := self.compression_format) != 'zstd':
                 raise ReaderError(f'Compression format {cfmt!r} is not supported.')
+
+            self.files: list[FileInformation] = self.metadata.get('files', [])[:]
         except KeyError as exc:
             raise ReaderError(f'A metadata key is missing {exc!r}.') from None
 
diff --git a/src/rosbags/rosbag2/writer.py b/src/rosbags/rosbag2/writer.py
index 6efaf197..6454562b 100644
--- a/src/rosbags/rosbag2/writer.py
+++ b/src/rosbags/rosbag2/writer.py
@@ -233,7 +233,7 @@ class Writer:  # pylint: disable=too-many-instance-attributes
 
         metadata: dict[str, Metadata] = {
             'rosbag2_bagfile_information': {
-                'version': 4,
+                'version': 5,
                 'storage_identifier': 'sqlite3',
                 'relative_file_paths': [self.dbpath.name],
                 'duration': {
@@ -256,6 +256,18 @@ class Writer:  # pylint: disable=too-many-instance-attributes
                 ],
                 'compression_format': self.compression_format,
                 'compression_mode': self.compression_mode,
+                'files': [
+                    {
+                        'path': self.dbpath.name,
+                        'starting_time': {
+                            'nanoseconds_since_epoch': start,
+                        },
+                        'duration': {
+                            'nanoseconds': duration,
+                        },
+                        'message_count': count,
+                    },
+                ],
             },
         }
         with self.metapath.open('w') as metafile: